CN116635314A

CN116635314A - Vehicle for transporting storage containers in an automated storage and retrieval system

Info

Publication number: CN116635314A
Application number: CN202180078500.5A
Authority: CN
Inventors: 约尔延·久韦·黑格博
Original assignee: Autostore Technology AS
Current assignee: Autostore Technology AS
Priority date: 2020-11-30
Filing date: 2021-10-28
Publication date: 2023-08-22
Also published as: NO20201317A1; US20230406628A1; CA3198287A1; KR20230110611A; WO2022111939A1; EP4251543A1; NO346409B1; JP2023553831A

Abstract

The present invention relates to a remotely operated vehicle (500) capable of changing the footprint depending on the load of a storage container (106). Furthermore, the vehicle (500) can arrange the storage container support (550) in a position for receiving the storage container (106) from the conveyor. The invention further relates to a storage and retrieval system (1) comprising such a vehicle (500), and to a method for operating such a vehicle (500).

Description

Vehicle for transporting storage containers in an automated storage and retrieval system

Technical Field

The present invention relates to an automated storage and retrieval system for storing and retrieving containers, and in particular to a remotely operated vehicle for transporting storage containers in such a system.

Background

Fig. 1A discloses a typical prior art automated storage and retrieval system 1 having a frame structure 100, and fig. 2 and 3 disclose two different prior art container handling vehicles 201, 301 adapted to operate on such a system 1.

The frame structure 100 comprises an upright member 102, a horizontal member 103 and a storage volume comprising a storage column 105 arranged between the upright member 102 and the horizontal member 103. In these storage columns 105, storage containers 106, also called bins, are stacked one on top of the other to form stacks 107. The members 102, 103 may generally be made of metal (e.g., extruded aluminum profile).

The frame structure 100 of the automated storage and retrieval system 1 includes a track system 108, which may be a track grid, disposed across the top of the frame structure 100, on which track system 108 a plurality of container handling vehicles 201, 301 are operated to raise and lower storage containers 106 from and into the storage columns 105, and also to transport storage containers 106 over the storage columns 105. The track system 108 includes a first set of parallel tracks 110 arranged to guide movement of the container handling vehicles 201, 301 across the top of the frame structure 100 in a first direction X and a second set of parallel tracks 111 arranged perpendicular to the first set of tracks 110 to guide movement of the container handling vehicles 201, 301 in a second direction Y perpendicular to the first direction X. The containers 106 stored in the columns 105 are accessed by the container handling vehicles through access openings/grille openings 115 in the track system 108. The container handling vehicles 201, 301 are movable laterally above the storage columns 105, i.e., in a plane parallel to the horizontal X-Y plane.

The horizontal extent of one of the grid cells 122 constituting the grid pattern is marked with a bold line in fig. 1A.

The track system 108 may be a single track system, as shown in FIG. 1B. Alternatively, the track system 108 may be a dual track system, as shown in fig. 1C, allowing container handling vehicles 201 having a footprint generally corresponding to the lateral area defined by the grid cells 122 to travel along one row of grid columns 105 even though another container handling vehicle 201 is located above the grid column adjacent the row. Both the single track system and the double track system, or a combination of the single track and the double track arrangement comprised in the single track system 108, form a grid pattern in the horizontal plane P comprising a plurality of rectangular and uniform grid positions or grid cells 122, wherein each grid cell 122 has a grid opening 115 defined by a pair of tracks 110a, 110b of the first set of tracks 110 and a pair of tracks 111a, 111b of the second set of tracks 111. The horizontal extent of each grid cell 122 includes the grid opening 115, and the pair of tracks 110a, 110b of the first set of tracks 110 and the pair of tracks 111a, 111b of the second set of tracks 111 that define the grid opening 115. In fig. 1C and 1D, the grill unit 122 is indicated by a dotted frame.

Thus, the tracks 110a and 110b form pairs of tracks defining parallel rows of grid cells extending in the first direction X, and the tracks 111a and 111b form pairs of tracks defining parallel rows of grid cells extending in the second direction Y.

As shown in FIG. 1D, each grid cell 122 has a width W typically within a spacing of 30 to 150cm _c And a length L typically in the interval of 50 to 200cm _c . Each grille opening 115 has a width W _o And length L _o Due to the horizontal extent of the track, the width and length of the grid openings are generally greater than the width W of the grid cells 122 _c And length L _c 2 to 10cm in size.

In the first direction X and the second direction Y, adjacent grid cells are arranged in contact with each other such that there is no space therebetween.

The upright members 102 of the frame structure 100 may be used to guide the storage containers 106 during lifting of the containers 106 from the storage columns 105 and lowering of the containers 106 into the storage columns 105. The stack 107 of containers 106 is typically self-supporting.

Each prior art container handling vehicle 201, 301 includes a vehicle body 201a, 301a, and a first set of wheels 201b, 301b and a second set of wheels 201c, 301c that effect lateral movement of the container handling vehicle 201, 301 in a first direction X and a second direction Y, respectively. In fig. 2 and 3, the two wheels in each group are fully visible. The first set of wheels 201b, 301b are arranged to engage with two adjacent tracks of the first set of tracks 110 and the second set of wheels 201c, 301c are arranged to engage with two adjacent tracks of the second set of tracks 111. At least one of the sets of wheels 201b, 301b, 201c, 301c may be raised and lowered such that the first set of wheels 201b, 301b and/or the second set of wheels 201c, 301c may engage a corresponding set of tracks 110, 111 at any time.

Each prior art container handling vehicle 201, 301 also includes a lifting device (not shown) for vertically transporting the storage containers 106, such as raising the storage containers 106 from the storage column 105 and lowering the storage containers 106 into the storage column 105. The lifting device comprises one or more gripping/engagement devices adapted to engage the storage container 106 and which may be lowered from the vehicle 201, 301 such that the position of the gripping/engagement devices relative to the vehicle 201, 301 is adjustable in a third direction Z orthogonal to the first direction X and the second direction Y. A portion of the gripping device of the container handling vehicle 301 is indicated with reference numeral 304 in fig. 3. The gripping device of the container transporting device 201 is located in the vehicle body 201a in fig. 2.

Typically, and also for the purposes of the present application, z=1 represents the uppermost layer of the storage container, i.e., the layer immediately below the track system 108, z=2 represents the second layer below the track system 108, z=3 represents the third layer, and so on. In the exemplary prior art disclosed in fig. 1, z=8 represents the lowermost bottom layer of the storage container. Similarly, x= … n and y= … n denote that each storage column 105 is at the horizontal plane P _H Is provided. Thus, as an example and using the cartesian coordinate system X, Y, Z indicated in fig. 1, the storage container identified as 106' in fig. 1 can be said to occupy storage positions x=10, y=2, z=3. The container handling vehicles 201, 301 can be said to travel in layer z=0, and each storage column 105 can be identified by its X and Y coordinates.

The storage volume of the frame structure 100 is generally referred to as a grid 104, wherein the possible storage locations within such a grid are referred to as storage units. Each storage column may be identified by a location in the first direction X and the second direction Y, and each storage unit may be identified by a location/container number in the first direction X, the second direction Y, and the third direction Z.

Each prior art container handling vehicle 201, 301 includes a storage compartment or space for receiving and loading storage containers 106 as the storage containers 106 are transported across the track system 108. The storage space may comprise a cavity centrally arranged within the body 201a, as shown in fig. 2 and as described for example in WO2015/193278A1, the contents of which are incorporated herein by reference.

Fig. 3 shows an alternative configuration of a container handling vehicle 301 having a cantilever structure. Such a vehicle is described in detail in, for example, NO317366, the contents of which are also incorporated herein by reference.

The central cavity container handling vehicle 201 shown in fig. 2 may have a footprint that covers an area having a dimension in the first direction X and the second direction Y that is approximately equal to the lateral extent of the storage column 105, for example, as described in WO2015/193278A1, the contents of which are incorporated herein by reference. The term "lateral" as used herein may mean "horizontal".

Alternatively, the central cavity container handling vehicle 101 may have a footprint that is greater than the lateral area defined by the storage columns 105, e.g., as disclosed in W02014/090684 A1.

The track system 108 generally includes a track having a groove in which the wheels of the vehicle run. Alternatively, the track may comprise upwardly projecting elements, wherein the wheels of the vehicle comprise flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as rails. Each track may comprise one rail or each track may comprise two parallel rails.

WO2018/146304, the contents of which are incorporated herein by reference, shows a typical construction of a rail system 108 comprising rails and parallel tracks in both the X and Y directions.

In the frame structure 100, most of the columns 105 are storage columns 105, i.e. columns 105 in which storage containers 106 are stored in stacks 107. However, some columns 105 may have other purposes. In fig. 1A, columns 119 and 120 are dedicated columns that are used by container handling vehicles 201, 301 to discharge (drop off) and/or pick up storage containers 106 so that they can be transported to an access station (not shown) where storage containers 106 can be accessed from outside of frame structure 100 or transferred from or into frame structure 100. Such locations are commonly referred to in the art as "ports" and the column in which the ports are located may be referred to as "port columns" 119, 120. The transport to the access station may be in any direction, i.e. horizontal, inclined and/or vertical. For example, the storage containers 106 may be placed within a random or dedicated column 105 within the frame structure 100, then picked up by any container handling vehicle and transported to the port columns 119, 120 for further transport to an access station. It should be noted that the term "inclined" means transportation of the storage container 106 with a general transportation direction somewhere between horizontal and vertical.

In fig. 1A, the first port row 119 may be, for example, a dedicated discharge port row in which the container handling vehicles 201, 301 may discharge the storage containers 106 to be transported to an access station or a transfer station, and the second port row 120 may be a dedicated pick-up port row in which the container handling vehicles 201, 301 may pick up the storage containers 106 that have been transported from the access station or the transfer station.

The access station may generally be a pick-up station or a storage station where the product items are removed from or positioned in the storage container 106. In the pick-up station or storage station, the storage containers 106 are typically not removed from the automated storage and retrieval system 1, but are returned to the frame structure 100 once accessed. The port may also be used to transfer the storage container to another storage facility (e.g., to another frame structure or to another automated storage and retrieval system), to a transport vehicle (e.g., a train or truck), or to a production facility.

A conveyor system including a conveyor is typically used to transport storage containers between the port columns 119, 120 and the access station.

If the port columns 119, 120 and access stations are located at different elevations, the conveyor system may include a lifting device having vertical members for transporting the storage containers 106 vertically between the port columns 119, 120 and the access stations.

The transport system may be arranged to transport the storage containers 106 between different frame structures, for example as described in WO2014/075937A1, the contents of which are incorporated herein by reference.

When a target storage container 106 'stored in one of the columns 105 disclosed in fig. 1A is to be accessed, one of the container handling vehicles 201, 301 is instructed to retrieve the target storage container 106' from its location and transport it to the discharge port column 119. This operation includes moving the container handling vehicles 201, 301 to a position above the storage column 105 where the target storage container 106' is located, retrieving the target storage container 106' from the storage column 105 using a lifting device (not shown) of the container handling vehicles 201, 301 and transporting the target storage container 106' to the discharge port column 119. If the target storage container 106' is located deep within the stack 107, i.e., one or more other storage containers 106 are located above the target storage container 106', then the operations further include temporarily moving the storage container 106 located above prior to lifting the target storage container 106' from the storage column 105. This step, sometimes referred to in the art as "digging," may be performed with the same container handling vehicle 201, 301 that is subsequently used to transport the target storage container 106' to the discharge port column 119, or with one or more other cooperating container handling vehicles 201, 301. Alternatively or additionally, the automated storage and retrieval system 1 may have container handling vehicles 201, 301 dedicated to the task of temporarily removing storage containers 106 from the storage column 105. Once the target storage container 106' has been removed from the storage column 105, the temporarily removed storage container 106 may be repositioned into the original storage column 105. However, the removed storage containers 106 may be alternatively repositioned to other storage columns 105.

When a storage container 106 is to be stored in one column 105, one of the container handling vehicles 201, 301 is instructed to pick up the storage container 106 from the pick-up port column 120 and transport it to a position above the storage column 105 where the storage container is to be stored. After any storage containers 106 located at or above the target location within the stack 107 have been removed, the container handling vehicles 201, 301 position the storage containers 106 at the desired locations. The removed storage containers 106 may then be lowered back into the storage column 105 or repositioned to other storage columns 105.

To monitor and control the automated storage and retrieval system 1, for example, the location of the respective storage containers 106 within the frame structure 100, the contents of each storage container 106; and movement of the container handling vehicles 201, 301 such that the desired storage container 106 may be delivered to the desired location at the desired time without the container handling vehicles 201, 301 colliding with each other, the automated storage and retrieval system 1 includes a control system 900 that is typically computerized and that typically includes a database for tracking the storage container 106.

At the port area, i.e., the area adjacent or near the port columns 119, 120 at the upper track system 108, multiple container handling vehicles 201, 301 may sometimes have to be in line waiting to discharge or pick up the storage containers 106. Such queuing should be avoided as it would cause unnecessary interruption of the operation of the container handling vehicle 201, 301 and thus unnecessary stopping of the system 1.

Furthermore, in known storage systems, the container handling vehicles 201, 301 transport the storage containers 106 to or pick up the storage containers 106 from the port columns 119, 120 themselves, and thus in large storage systems 1, the container handling vehicles 201, 301 may have to travel long distances to transport or pick up the storage containers 106 at the port columns 119, 120, which may be time consuming and inefficient.

It is a first object of the present invention to provide a storage and retrieval system that alleviates these disadvantages.

It is a second object of the present invention to provide a remotely operated vehicle that can facilitate the transfer of storage containers within a storage and retrieval system without taking up unnecessary space on the grid system of the storage and retrieval system.

A third object of the present invention is to provide a remotely operated vehicle that is a mobile temporary storage vehicle that can carry multiple storage containers simultaneously when needed.

A fourth object of the present invention is to provide a remotely operated vehicle for reducing queuing or jamming.

Disclosure of Invention

The invention is set forth and characterized in the independent claims, while the dependent claims describe other characteristics of the invention.

In a first aspect, the invention relates to a remotely operated vehicle for transporting storage containers on a track system of an automated storage and retrieval system.

The vehicle may comprise a body with a base comprising a first set of drive means arranged on opposite sides of the body for moving the vehicle on a track system in a first horizontal direction X, as disclosed in the background of the prior art section above.

Furthermore, the vehicle may comprise a second set of drive means arranged on another opposite side of the vehicle body or within a cavity of the vehicle body for moving the vehicle on the rail system in a second horizontal direction Y. The second direction Y is perpendicular to the first direction.

The base is preferably a wheeled base comprising a first set of wheels and a second set of wheels for guiding the container handling vehicle along the track system in a first direction X and a second direction Y, respectively. Further, one of the sets of wheels may be connected to a wheel-shifting assembly that is capable of lifting and lowering the connected set of wheels relative to the other set of wheels such that the set of wheels traveling only in the desired direction is in contact with the rail system. The wheel-shifting assembly may be driven by an electric motor. Furthermore, both sets of wheels may each be connected to at least two motors powered by a power source (e.g. a rechargeable battery) for moving the wheeled base unit in a desired direction.

Alternatively, the base may be a belt base comprising a first belt and a second belt for guiding the container handling vehicle along the rail system in a first direction X and a second direction Y, respectively.

In addition, the vehicle comprises at least one storage container support for carrying/supporting the storage container. The storage container support is movably mounted to the vehicle body such that the storage container support is movable between a first position and a second position. In the second position, the storage container support extends in a horizontal plane for supporting the storage container. Thus, when the storage container is supported on the storage container support, the storage container is arranged on top of the storage container support. In other words, when the storage container is arranged on the storage container support, the storage container is supported from below.

The vehicle has a first footprint a when the storage container support is in the first position and a second footprint B when the storage container support is in the second position. The second coverage area B is larger than the first coverage area a in at least one of the first direction X and/or the second direction Y.

When the storage container support is arranged in the first position, it can be regarded as stowed while it is deployed in the second position.

The term "footprint" is to be understood as a vertical/downward projection. Thus, the coverage area extends in a horizontal plane along the first direction X and the second direction Y.

Preferably, the first footprint a is at least the size/horizontal extent of one grid unit of the track system as defined in the background and prior art sections, e.g. the size of the grid opening plus the size of the pair of tracks of the first set of tracks and the pair of tracks of the second set of tracks defining the grid opening. The first footprint a may for example be equal to the vertical projection of the vehicle body. Furthermore, the vertical projection of the vehicle body may be equal to the vertical projection of the base of the vehicle, which may likewise be the size of one grid unit of the track system.

The second footprint B is preferably between 20% and 300% larger than footprint a, more preferably between 50% and 200% larger than the first footprint a.

The at least one movably mounted storage container support may be pivotally mounted to the vehicle body at a pivot point such that the storage container support is movable in a pivoting motion about the pivot point between a first position and a second position. Thus, when the storage container support is arranged in the first position, the storage container support may be arranged mainly vertically, i.e. mainly comprising a portion lying in the third vertical direction Z.

The storage vessel support may be pivotally mounted to a side wall of the vehicle body at a pivot connection.

Alternatively or additionally, the storage container support may comprise two parts/segments, wherein the first part is pivotally arranged such that only the first part of the storage container support may be moved in a pivoting motion. The first portion may be pivotally mounted to a base of the vehicle and the second portion of the storage container support may be fixedly disposed to the body, for example, above a portion of the base.

The movement of the pivotally mounted storage container support may be actuated by, for example, an electric actuator driven by a battery-driven motor.

The vehicle may comprise more than one pivotally arranged storage container support. The two storage container supports may for example be mounted on opposite sides of the vehicle body or mounted such that they protrude beyond the footprint of the vehicle body in opposite directions along the first direction X and/or the second direction Y.

Instead of or in addition to being pivotally mounted, at least one storage container support can be slidably mounted to the vehicle body such that the storage container support is slidable in one of the first horizontal direction X or the second horizontal direction Y between the first position and the second position. In other words, the storable container support may be regarded as configured for linear translational movement in a horizontal direction, preferably in one of the first direction X or the second direction Y.

The storage vessel support may be slidably mounted to the top/upper surface of the base of the vehicle by an electrically driven linear actuator connected to both the storage vessel support and the base.

In another embodiment, a vehicle may include at least one telescopically mounted storage container support mounted to a vehicle body. Thus, the storage container support may extend telescopically in one of the first horizontal direction X or the second horizontal direction Y when moving between the first position and the second position of the storage container support.

The storage container support may be mounted to an upper surface of a base of the vehicle.

In another embodiment, the storage container support is rotatably mounted to the vehicle body such that the storage container support rotates in a horizontal plane between a first position and a second position of the storage container support.

The storage vessel support may be mounted to one of the sides of the vehicle body or mounted on top of the base of the vehicle body and actuated by an electric actuator.

Typically, when the at least one storage container support is arranged in the first position, the footprint of the storage container support may be within the footprint of the vehicle body, and thus the first footprint a of the vehicle may be equal to the footprint of the vehicle body. However, when the storage container support is arranged in the second position, the storage container support may be arranged mainly horizontally and further arranged such that the storage container support protrudes beyond the footprint of the vehicle body. Thus, the second coverage area B will be larger than the first coverage area a.

In the second position, the storage container support may be in a position for receiving the storage container from the conveyor. Since the position of the storage container support is adjustable due to the movable movement of the storage container support, the configuration in which the storage container support protrudes from the vehicle body in the first horizontal direction X or the second horizontal direction Y in the second position can simplify loading of the storage container to/unloading of the storage container from the storage container support.

As described above, movement of the at least one storage container support may be facilitated/actuated by an electrically operated actuator disposed within the vehicle body (such as its base). The actuator may be an electrically driven linear actuator. Alternatively, the actuator may be a pneumatic or hydraulic actuator operated by an electrical signal.

The storage container support provides a support function for the storage container at least when the storage container is arranged in the second position and may thus have many different shapes. The storage container support may be in the form of a flat/planar shelf, for example a support plate-like structure having a different shape, or it may comprise a plurality of arms or the like supporting the storage container from below. Further, to provide the support function, it may comprise any type of scissors, folding, pivoting, rotating or sliding type mechanism to achieve the support function in the second position.

The storage container support may be up to 20% larger than the base area of the storage container. The base area of the storage container is understood to be the same as the vertical projection/footprint of the storage container.

The storage container support may extend in a first horizontal direction and when the storage container support is arranged in the first position, the width of the storage container support in the second horizontal direction may then be equal to or within the footprint of the base.

The base of the vehicle body comprises a stabilizing structure which extends directly below the storage container support when the storage container support is arranged in the second position for stabilizing the vehicle, in particular during driving.

The storage container support may extend in a first horizontal direction X, and the stabilizing structure may extend 20% to 90% of the total length of the storage container support in the same direction X. Preferably, the stabilizing structure extends 30% to 60% of the total length of the storage container support.

Instead of or in addition to this structure, the storage container support may be provided with support wheels which may be pivoted from or provided on the storage container support. The support wheel may extend in a third vertical direction Z from below the storage container support for interaction with the rail system when the storage container support is arranged in the second position.

In the above embodiments, wherein at least one storage container support is rotatably mounted to the vehicle body, the vehicle may comprise a rotary turret device having a vertical axis of rotation. The storage container support may then be connected to a rotating carousel device, allowing the storage container support to rotate from a first position to a second position.

The rotary turret device may further include a turret arm extending radially from a central portion of the rotary turret device. The storage container support may be arranged at an end of the carousel arm distal to the vertical rotation axis. Further, a turntable motor configured to rotate the turntable arm about a vertical rotation axis may be connected thereto.

Furthermore, a plurality of storage container supports may be connected to the rotary turret apparatus.

The vehicle may be configured to carry more storage containers when the storage container support is disposed in the second position than when the storage container support is disposed in the first position.

In a second aspect, the present invention is directed to an automated storage and retrieval system comprising a track system having a first set of parallel tracks arranged in a horizontal plane and extending in a first direction, and a second set of parallel tracks arranged in a horizontal plane and extending in a second direction orthogonal to the first direction, the first and second sets of tracks forming a grid pattern in the horizontal plane. Thus, the track system comprises a plurality of adjacent grid cells, wherein each grid cell comprises a grid opening, a portion of a pair of adjacent tracks of the first set of tracks, and a portion of a pair of adjacent tracks of the second set of tracks, wherein the portions define the grid opening.

Below the track system, a plurality of stacks of storage containers are arranged in storage columns. Each storage column is located vertically below a grid opening.

Further, the system comprises a remotely operated vehicle as described above for supporting the at least one storage container. The vehicle is configured to move on a track system over a storage column.

Furthermore, the system may comprise a conveying device for conveying the storage container to a storage container support of the remotely operated vehicle.

The body of the vehicle of the system may also include a vertically extending structure extending from the base. The vertically extending structure may include a cantilever having at its upper end a lifting device for lifting and lowering the storage container to and from a position below the cantilever. Thus, when arranged in the second position, the cantilever arm may extend in the opposite direction of the storage container support in the first horizontal direction. Furthermore, the cantilever arm may be arranged at an opposite side of the vehicle compared to the position of the storage container support.

The storage container support is different from a lifting device that lifts and lowers storage containers into and out of a storage column.

Alternatively, the body may include a central cavity in the body having lifting means for lifting the storage container to and from a position in the cavity. The first set of wheels may have four wheels mounted parallel to the outer wall of the vehicle body and the second set of wheels may have four wheels mounted on the inside of the cavity parallel to the inner wall of the vehicle body. The first set of wheels and the second set of wheels are oriented perpendicular to each other.

The vehicle of the system may include a sensor that detects the presence of a storage container on at least one storage container support. Thus, if no storage container is present, the vehicle may automatically arrange the storage container support in the first position, ensuring that the footprint of the vehicle is as small as possible.

Further, the vehicle may include a sensor that senses the footprint of the vehicle in the field for calculating the fastest route from one location to another on the track system in view of the footprint.

The system may also include a control system for receiving information about the footprint of the remotely operated vehicle for controlling the vehicle on the track system of the automated storage and retrieval system.

The first footprint a of the vehicle may be equal in size to the grid cells of the system. Alternatively, the ratio between the size of the grille unit and the size of the first footprint a of the teleoperated vehicle may be from 1:1 to 1:2.

The remotely operated vehicle may also include a weight distribution system including a movable load and a load moving device for changing the center of gravity of the vehicle in accordance with the load of one or more storage containers carried by the remotely operated vehicle. The load moving means may be an actuator, such as a ball screw, a rack and pinion, or the like. In one embodiment, the movable load may be a storage container and the load moving means may be a storage container support on which the storage container is arranged. In another aspect, the movable load may be a weight disposed within the wheeled base.

The weight distribution system may include:

-a sensor for measuring the weight of any storage container supported by the storage container support, and

-a control system connected to the sensor and the load moving device, wherein the control system senses a change in mass of at least two opposite sides of the vehicle based on measurement data from the sensor and calculates a travel distance of the movable load corresponding to the change in mass, and instructs the load moving device to move the movable load by the calculated travel distance in opposite directions of the relatively heavy side of the vehicle.

The control system may calculate the dynamic center of gravity of the vehicle in situ (i.e. in real time) during movements such as acceleration and deceleration and instruct the load moving means to move the movable load in a direction such that the center of gravity is forced to a more favourable point, while reducing the risk of e.g. tilting of the vehicle.

The term "transporting means" is understood to be any means capable of transporting/loading storage containers to/from the storage container support of the inventive vehicle. The transport may be, for example, any of an operator, a container handling vehicle, an Automatic Guided Vehicle (AGV), a truck, a gripper, a robotic arm, a lift, a port, or a conveyor belt.

The relative terms "upper," "lower," "below," "over," "upper," and the like are to be understood in their normal sense and as seen in a cartesian coordinate system. When referring to a well, the term "upper" or "above" is to be understood as a position closer to the surface of the well (relative to another component), as opposed to the term "lower" or "below" which is to be understood as a position farther from the surface of the well (relative to another component).

In a third aspect, the invention relates to a method for operating a remotely operated vehicle.

The method may comprise the steps of:

moving the remotely operated vehicle towards the first position for receiving the storage container when the at least one storage container support is in the first position,

-arranging a remotely operated vehicle at said first location, and

-moving the at least one storage container support into the second position for receiving and storing the storage container.

Furthermore, the method may comprise the step of moving the vehicle to the second position to transport the storage container to the receiving unit when the storage container support is arranged in the second position.

The method steps described above may be monitored and controlled by the control system receiving wireless data communications and transmitting the wireless data communications to the remotely operated vehicle.

Thus, the control system may initiate and control movement of the storage container support between the first position and the second position. In addition, the control system may initiate and control movement of the remotely operated vehicle on the track system.

The use of such remotely operated vehicles in automated storage and retrieval systems may provide a solution for reducing queuing or jamming by carrying storage containers from the excavation point to or near the port. In addition, the remotely operated vehicle may also be removed from the road and cause minimal obstruction when not needed.

In summary, the present invention provides a remotely operated vehicle that can vary the footprint depending on the load of the storage container. Furthermore, the vehicle may arrange the storage container support in a position for receiving the storage container from the conveyor.

Drawings

The following drawings are attached to aid in the understanding of the invention. The accompanying drawings illustrate embodiments of the invention and will now be described, by way of example only, in which:

FIG. 1A is a perspective view of a prior art automated storage and retrieval system;

FIG. 1B is a plan view of two sets of single-rail tracks;

FIG. 1C is a plan view of two sets of dual rail tracks;

FIG. 1D is a graph showing the dimensions (e.g., W _C ×L _C ) Is a plan view of (2);

FIG. 2 is a perspective view of a prior art remotely operated container handling vehicle having a centrally disposed cavity for carrying storage containers therein;

FIG. 3 is a perspective view of a prior art remotely operated container handling vehicle having a boom for carrying storage containers underneath;

FIGS. 4A and 4B illustrate perspective views of an exemplary base in the form of a wheeled base for a remotely operated vehicle;

FIGS. 5A and 5B are side views of a remotely operated vehicle having a slidably mounted storage container support according to a first exemplary embodiment of the present invention;

FIGS. 6A and 6B are side views of a remotely operated vehicle having two slidably mounted storage container supports according to a second exemplary embodiment of the present invention;

fig. 7A and 7B are perspective views of a remotely operated vehicle according to the second exemplary embodiment shown in fig. 6A and 6B, respectively;

FIG. 7C is a perspective view of the remotely operated vehicle as shown in FIG. 7B without the storage container disposed on the storage container support, showing the movement mechanism of the slidably mounted storage container support;

FIG. 7D is a top detail view of the movement mechanism shown in phantom circles in FIG. 7C;

FIGS. 8A and 8B are side views of a remotely operated vehicle having a pivotally mounted storage container support according to a third exemplary embodiment of the present invention;

fig. 9A and 9B are side views of a remotely operated vehicle having two pivotally mounted storage container supports according to a fourth exemplary embodiment of the present invention;

fig. 10A to 10D are perspective views of a remotely operated vehicle having two storage container supports, one half of which is pivotally mounted, according to a fifth exemplary embodiment of the present invention;

FIGS. 11A and 11B are side views of a remotely operated vehicle having a pivotally mounted storage container support and a slidably mounted storage container support according to a sixth exemplary embodiment of the present invention;

fig. 12A and 12B are side views of a remotely operated vehicle having two telescopically mounted storage container supports according to a seventh exemplary embodiment of the invention;

fig. 13A-13C are side views of a remotely operated vehicle according to an eighth exemplary embodiment of the present invention, wherein the vehicle is a container handling vehicle having a centrally disposed cavity and two pivotally mounted storage container supports;

Fig. 14A and 14B are perspective views of a remotely operated vehicle according to an eighth exemplary embodiment of the present invention shown in fig. 13A and 13B, respectively;

FIG. 15 is a side view of a remotely operated vehicle according to a ninth exemplary embodiment of the present invention, where the vehicle is a container handling vehicle having a centrally disposed cavity and four pivotally mounted storage container supports;

fig. 16A and 16B are perspective views of a remotely operated vehicle according to a tenth exemplary embodiment of the present invention, wherein the vehicle is a container handling vehicle having a centrally disposed cavity and two telescopically mounted storage container supports;

FIGS. 17A and 17B are side views of a remotely operated vehicle according to an eleventh exemplary embodiment of the present invention, wherein the vehicle is a cantilevered container handling vehicle having a pivotally mounted storage container support;

fig. 18A and 18B are side views of a remotely operated vehicle according to a twelfth exemplary embodiment of the present invention, wherein the vehicle is a cantilevered container handling vehicle having a slidably mounted storage container support;

fig. 19A and 19B are perspective views of a remotely operated vehicle having a rotary turret device for supporting three containers and a pivotally mounted storage container support according to a thirteenth exemplary embodiment of the invention;

Fig. 20A to 20D are perspective views of a remotely operated vehicle according to a fourteenth exemplary embodiment of the present invention, wherein the vehicle has two rotatably mounted storage container supports;

fig. 21A and 21B are perspective views of a remotely operated vehicle having a rotatably mounted storage container support according to a fifteenth exemplary embodiment of the present invention;

fig. 22A to 22G show a remotely operated vehicle according to a sixteenth exemplary embodiment of the invention, wherein the vehicle has two rotatably mounted storage container supports. Fig. 22A and 22G are perspective views of the vehicle, fig. 22B, 22C, 22D and 22F are side views of the vehicle, and fig. 22E is a detailed view of the connector of one of the rotatably mounted storage container supports shown by the dashed circle in fig. 22D;

fig. 23 is a perspective view of a remotely operated vehicle having a weight distribution system with a load moving device for changing the center of gravity of the vehicle according to the load of one or both storage containers carried by the vehicle according to the second or sixth exemplary embodiment of the invention shown in fig. 7B.

In the drawings, the same reference numerals are used to indicate the same parts, elements or features unless explicitly stated otherwise or implicitly understood from the context.

Detailed Description

Hereinafter, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings. It should be understood, however, that the drawings are not intended to limit the invention to the subject matter depicted in the drawings.

If not otherwise illustrated, the frame 100 of the automated storage and retrieval system 1 is constructed in accordance with the prior art frame 100 described above in connection with fig. 1A-1D, i.e., a plurality of upright members 102 defining a plurality of storage columns 105, and a track system 108 of parallel tracks 110, 111 disposed across the tops of the storage columns 105 in the X-direction and the Y-direction. More specifically, the track system 108 shows a plurality of grid cells 122, each grid cell 122 including a grid opening 115 defined by a pair of tracks 110a, 110b of the first set of tracks 110 extending in the first direction X and a pair of tracks 111a, 111b of the second set of tracks 111 extending in the second direction Y. The footprint of one grid cell 122 includes one grid opening 115 and the defined portions of its tracks 110a, 110b, 111a, 111b, as indicated in fig. 1C and 1D.

The frame structure 100 may be of any size. In particular, it should be appreciated that the frame structure may be much wider and/or much longer and/or much deeper than that disclosed in fig. 1. For example, the frame structure 100 may have a horizontal extent of over 700 x 700 columns and a storage depth of over 12 containers.

Referring to fig. 2 and 3, a plurality of container handling vehicles 201, 301 may operate on the track system 108 to raise storage containers 106 from the storage column 105 and lower storage containers 106 into the storage column 105, as discussed in the background and prior art sections.

Further, a remotely operated vehicle according to the present invention is configured to operate on the track system 108.

Fig. 4A and 4B show an exemplary base 505 in the form of a wheeled base unit 505 for such a teleoperated vehicle according to an embodiment of the invention. The wheeled base unit 505 is characterized by a wheel arrangement 506a, 506b having a first set of wheels 506a for movement on a rail system in a first horizontal direction X and a second set of wheels 506b for movement in a second horizontal direction Y perpendicular to the first direction X. Each set of wheels includes two pairs of wheels disposed on opposite sides of the wheeled base unit 505. To change the direction in which the wheel base unit 505 may travel on the rail system, one set of wheels 506b of the sets of wheels is connected to the wheel shift assembly 507. The wheel-shifting assembly 507 is capable of raising and lowering the connected set of wheels 506b relative to the other set of wheels 506a such that the set of wheels traveling only in the desired direction is in contact with the rail system. The wheel-shifting assembly 507 is driven by a motor 508. Furthermore, two motors 509, 509' powered by a power source (e.g. a rechargeable battery 503) are connected to the set of wheels 506a, 506b to move the wheeled base unit 505 in a desired direction.

With further reference to fig. 4A and 4B, the horizontal perimeter of the wheeled base unit 505 is sized to fit within the horizontal area defined by the grid units such that two wheeled base units 505 can pass over each other on any adjacent grid units of the track system. In other words, the wheel base unit 505 may have a coverage area, i.e., a range in the X-direction and the Y-direction, which is approximately equal to the horizontal area of one grid unit, i.e., the range of the grid unit in the X-direction and the Y-direction.

The vehicle 500 is configured for transporting one or more storage containers (106-not shown in fig. 4A and 4B) on a track system, preferably on a track system having an automated storage and retrieval system of multiple stacks of storage containers, as shown in fig. 1A. The vehicle 500 is also configured to receive a storage bin from a conveyor device, such as an operator, a storage container handling vehicle, a gripper, an elevator, a port, or a conveyor belt.

All of the exemplary embodiments of the inventive vehicle 500 shown in the drawings have a body 504 with a wheeled base unit 505. The wheeled base unit 505 may have a first set of wheels 506a arranged on opposite sides of the body 504 for moving the vehicle 500 in a first horizontal direction X on the track system 108, and a second set of wheels 506B arranged on other opposite sides of the body 504 or within the body 504 for moving the vehicle in a second horizontal direction Y on the track system, the second direction Y being perpendicular to the first direction X, as disclosed in fig. 4A and 4B. Further, the wheeled base unit 505 may be the size of one grid unit.

However, other configurations of wheeled base units may be used, such as having a footprint greater than the grid unit. Further, the wheeled base unit may include at least one set of wheels within the cavity of the vehicle.

A first exemplary embodiment of a remotely operated vehicle will now be discussed in more detail with reference to fig. 5A and 5B.

Fig. 5A is a side view of a vehicle 500 in which a body 504 has a wheeled base unit 505. Only the first set of wheels 506a is shown.

Further, the vehicle has a storage container support 550 slidably mounted to the body 504. The slidable direction is indicated by a double arrow in the first direction X, but alternatively a double arrow in the second direction Y. The slidable direction may also include a combination of the first direction X and the second direction Y such that the storage container support extends diagonally. The first direction X is equal to the lateral movement of the first set of wheels 506a of the vehicle 500.

The storage container support 550 indicated by the dashed line is shown in the first position P1 and the vehicle 500 has a first footprint/vertical projection a as indicated. The first footprint a may be equal to the horizontal extent of a single unit/one grid unit 122, as shown in fig. 1B, 1C, and 1D.

Upon operation of the slidable storage container support 550, the storage container support 550 moves from the first position P1 toward the second position P2.

Fig. 5B shows the storage container support 550 in the second position P2 with the storage container 106 disposed thereon. As described above, the storage containers 106 have been placed on the storage container support 550 by a conveyor (not shown).

As the storage container support 550 moves from the first position P1 toward the second position P2, the footprint of the vehicle 500 gradually increases, with a maximum second footprint B at the second position P2.

Thus, when the storage container support 550 is disposed in the first position P1, the first footprint a of the vehicle 500 may be equal to the grille unit when the vehicle 500 is moved on the track system. While when the storage container 106 is being carried while the storage container support 550 is disposed in the second position P2, the second footprint B of the vehicle 500 will be larger than the footprint/first footprint a of the grille units, e.g., the second footprint B may be up to the size of two grille units.

In operation of the first exemplary embodiment, the vehicle 500 may travel to the conveyor for receiving the storage container 106 on the storage container support 550 when disposed in the second position P2, or the storage container support 550 may be disposed in the second position P2 when the conveyor approaches the vehicle 500 for loading the storage container 106 onto the storage container support 550. Thus, operation of the vehicle 500 without the storage container 106 carried on the container support 550 occupies less space on the track system than the vehicle 500 with the storage container 106 carried on the container support. As known to those skilled in the art, it is advantageous for the efficiency of the storage system that the vehicle 500 operating in the system have as small a footprint as possible.

Furthermore, the slidably mounted storage container support 550 may be particularly useful in situations where the conveyor device cannot be disposed adjacent to the vehicle 500, and thus the storage container support 550 may enhance loading of the storage container 106 by reducing the distance between the conveyor device and the storage container support 550. An example of such a conveyor may be, for example, an operator or a conveyor belt, in order to minimize the risk of, among other things, the storage containers 106 falling into the rail system or being injured by the operator.

Fig. 6A and 6B illustrate a second exemplary embodiment of a vehicle 500 of the present invention.

The vehicle 500 is similar to the vehicle 500 of the first exemplary embodiment, having the same body 504 with the same wheeled base unit 505. The vehicle 500 of this second exemplary embodiment differs in that it has two slidably mounted storage container supports 550, 550'; a first storage container support 550 and a second storage container support 550', indicated by dashed lines.

Both storage container supports 550, 550 'are arranged in their first positions P1, P1' and the vehicle 500 has a first footprint a, which may be equal to one grid unit of the track system.

The double arrow indicates that both storage container supports 550, 550' slide in the first direction X. However, when moving from their respective first positions P1, P1 'to their respective second positions P2, P2', the two storage container supports slide in opposite directions.

Thus, by moving one or both storage container supports 550, 550' from the first position P1, P1' toward the second position P2, P2', the footprint of the vehicle 500 gradually increases.

Fig. 6B shows two storage container supports 550, 550 'in their second positions P2, P2', each carrying one storage container 106. When both storage container supports 550, 550 'are disposed in the second positions P2, P2', the vehicle 500 has a maximum second footprint B as shown. The second footprint B may be greater than 1.5 grid cells of the track system and may be approximately equal to two grid cells of the track system.

Fig. 7A and 7B are perspective views of the remotely operated vehicle 500 shown in fig. 6A and 6B, respectively.

The first storage container support 550 and the second storage container support 550' have a binding (building) configuration that allows the first footprint a of the vehicle 500 to be equal to the footprint of the wheeled base unit 505.

The first storage container support 550 shows two protrusions 552a, 552b and two recesses 553a, 553b. Further, the second storage container support 550' shows two protrusions 552a ', 552b ' configured to at least partially engage with the recesses 553a, 553b of the first storage container support 550. Further, the second storage container support 550' shows two recesses 553a ', 553b ' that at least partially engage with the protrusions 552a, 552b of the first storage container support 550. In the illustrated embodiment, when at least partially engaged in its first position P1, P1', there is a gap/opening 554 between the first storage container support 550 and the second storage container support 550'. This gap 554 allows, among other things, an operator to access the wheeled base unit 505 of the vehicle 500 to manually separate the two storage container supports 550, 550' when needed.

Fig. 7B shows the vehicle 500 with the first and second storage container supports 550, 550 'arranged in their second positions P2, P2', each having one storage container 106 arranged thereon, as also disclosed in fig. 6B, and thus the vehicle 500 has a maximum second footprint B, as depicted in fig. 6B.

Fig. 7C is a perspective view of the remotely operated vehicle as shown in fig. 7B, wherein the first and second storage container supports 550, 550 'have no storage containers disposed thereon, thereby illustrating the movement mechanism 580 of the slidably mounted storage container supports 550, 550' disposed within the wheeled base unit 505.

The movement mechanism 580 in fig. 7C is shown in detail in fig. 7D. The movement mechanism shows a ball screw mechanism 580 which converts the rotational movement of the two longitudinal shafts 582, 582 'into a linear movement of the first and second reservoir supports 550, 550'.

In the illustrated ball screw mechanism 580, the first storage container support 550 and the second storage container support 550 'move simultaneously, however, the principles of such a mechanism are known to those skilled in the art, and it is therefore apparent that the two ball screw mechanisms can be mounted independently for moving the two storage container supports 550, 550' respectively.

The first longitudinal shaft 582 has a first threaded section 582a connected to a first storage container support 550 having a nut (not shown) fixed to the first storage container support 550, and a second unthreaded section 582b rotatably fixed to the wheeled base unit 505 of the container handling vehicle. The interaction between the nut and the rotated first threaded section 582a of the first longitudinal shaft 582 allows a linear movement of the first storage container support 550 along the longitudinal length of the first threaded section 582a in the longitudinal direction of the first longitudinal shaft 582.

The second longitudinal shaft 582' has a first threaded section 582a ' connected to a second storage container support 550' having a nut (not shown) fixed to the second storage container support 550' and a second unthreaded section 582b ' rotationally fixed to the wheeled base unit 505 of the vehicle. The interaction between the nut and the rotated first thread segments 582a ' of the second longitudinal shaft 582' allows a linear movement of the second storage container support 550' along the longitudinal length of the first thread segments 582a ' in the longitudinal direction of the second longitudinal shaft 582 '.

The unthreaded section 582b of the first longitudinal shaft 582 and the second unthreaded section 582b 'of the second longitudinal shaft 582' are rotatably fixed to opposite sides of the wheel base unit 505 of the vehicle 500.

Both shafts 582, 582' are moved indirectly in the direction of rotation by a so-called belt and pinion mechanism. The belt and pinion mechanism is driven by a motor 588 which operates a central longitudinal rod/pinion 587 to move through rotational motion. The central longitudinal bar 587 interacts with the first shaft 582 via a first belt 585 and interacts with the second bar 582 'via a second belt 585'. The rotational movement of the central longitudinal bar 587 causes the first and second belts 585, 585 'to move such that the first and second shafts 582, 582' rotate, respectively.

The central longitudinal rod 587 is supported at a first end section 587a by a first bracket 583 having an opening through which the first end section 587a passes and at a second end section 587b thereof by a second bracket 583' having an opening through which the second end section 587b passes. The two end sections 587a, 587b have a pinion structure for moving the first belt 585 and the second belt 585', respectively. Further, the first bracket 583 supports the first shaft 582 because the first shaft 582 passes through the opening of the first bracket 583 such that the third segment 582c of the first shaft 582 having a pinion gear structure interacts with the first belt 585 as the first belt 585 extends between and partially around the first end segment 587a of the central longitudinal rod 587 and the third segment 582c of the first shaft 582. The second bracket 583 'supports the second shaft 582' because the second shaft 582 'passes through the opening of the second bracket 583' such that the third segment 582c 'of the second shaft 582' having a pinion structure interacts with the second belt 585 'as the second belt 585' extends between and partially around the second end segment 587b of the central longitudinal rod 587 and the third segment 582c 'of the second shaft 582'. Thus, upon rotation of the central longitudinal rod 587, the first belt 585 rotates the first shaft 582 and the second belt 585 'rotates the second shaft 582'.

Since the first and second longitudinal shafts 582, 582' have oppositely rotating threads, the first rotating threads 582 move the first storage container support 550 in a first direction and the second rotating threads 582' move the second storage container support 550' in a second, opposite direction, both along the first direction X.

In operation of the second exemplary embodiment, the vehicle 500 may travel to the conveyor for receiving the storage containers 106 on the storage container supports 550, 550' when disposed in its second position P2, P2', or the vehicle 500 may dispose the storage container supports 550, 550' in its second position P2, P2' when the conveyor is proximate to the vehicle 500 for loading the storage containers 106 onto the storage container supports 550, 550 '. Due to the slidably mounted storage container supports 550, 550', more than one storage container 106 may be carried by the vehicle 500, and the vehicle 500 has a larger footprint when carrying the storage containers 106 than when not carrying the storage containers 106. Thus, operation of the vehicle 500 on the storage container supports 550, 550 'without carrying the storage container 106 occupies less space on the track system than the vehicle 500 on the storage container supports 550, 550' with the storage container 106. As known to those skilled in the art, it is advantageous for the efficiency of the storage system that the vehicle 500 operating in the system have as small a footprint as possible.

The slidably mounted storage container supports 550, 550' may also be particularly useful in situations where the conveyor cannot be disposed adjacent to the vehicle 500, so the storage container supports 550, 550' may enhance loading of the storage containers 106 by reducing the distance between the storage container supports 550, 550' and the conveyor. For example, if the conveyor is a conveyor belt or operator, the risk of the storage container falling into the grid or operator injury may be minimized.

Fig. 8A and 8B illustrate a remotely operated vehicle 500 according to a third exemplary embodiment of the present invention.

The vehicle 500 is similar to the vehicle 500 of the first exemplary embodiment, having the same body 504 with the same wheeled base unit 505. The vehicle 500 of this third exemplary embodiment differs in that it has a pivotally mounted storage container support 550.

In fig. 8A, the storage container support 550 is arranged in a first position P1 and a first footprint a of the vehicle 500 is equal to the footprint of the wheeled base unit 505, which may be the size of one grid unit of the track system.

The storage container support 550 is connected to the vehicle body 504 by a pivot connection 590 and is movable in a pivot motion about a pivot point PP of the pivot connection 590. The pivoting movement is illustrated by the double arrow indicating the pivoting direction D. Thus, the storage container support may operate between a primarily vertical first position P1 as shown in fig. 8A and a horizontal second position P2 as shown in fig. 8B. Thus, the vehicle 500 has a smaller first footprint a when the storage container support 550 is empty, i.e., when the storage container 106 is not carried in the first position P1, than the second footprint B when the storage container support 550 is disposed in the second position P2 holding the storage container 106.

In operation of the third exemplary embodiment, the vehicle 500 may travel to the conveyor for receiving the storage container 106 on the storage container support 550 when disposed in the second position P2, or the storage container support 550 may be disposed in the second position P2 when the conveyor approaches the vehicle 500 for loading the storage container 106 onto the storage container support 550. Thus, operation of the vehicle 500 without a storage container 106 carried on the storage container support 550 occupies less space on the track system than the vehicle 500 with a storage container 106 carried on the storage container support 550.

The pivotally mounted storage container support 550 may be particularly useful in situations where the conveyor cannot be disposed adjacent to the vehicle 500, so the storage container support 550 may enhance loading of the storage container 106 by reducing the distance between the conveyor and the storage container support 550. An example of such a conveyor may be, for example, an operator or a conveyor belt, in order to minimize the risk of, among other things, the storage containers 106 falling into the rail system or being injured by the operator.

Fig. 9A and 9B illustrate a fourth exemplary embodiment of a vehicle 500 of the present invention, which is similar to the third exemplary embodiment except that the vehicle 500 has two pivotally mounted storage container supports 550, 550' instead of one storage container support.

Also in this embodiment, the vehicle 500 is similar to the vehicle 500 of the first exemplary embodiment, having the same body 504 with the same wheeled base unit 505.

As shown in fig. 9A, the first footprint a of the vehicle 500 corresponds to the footprint of the wheeled base unit 505 of the vehicle 500 when the first and second storage container supports 550, 550 'are disposed in their respective first positions P1, P1'.

The first storage container support 550 is pivotally mounted to the vehicle body 504 at a first pivot connection 590, allowing the first storage container support 550 to pivot about a first pivot point PP between a first position P1 and a second position P2 of the first storage container support 550.

The second storage container support 550' is pivotally mounted to the same body 504 at a second pivot connection 590' allowing the second storage container support 550' to pivot about a second pivot point PP ' between a first position P1' and a second position P2' of the second storage container support 550 '.

As the first and second storage container supports 550, 550' move from the first position P1, P1' toward the second position P2, P2', the footprint of the vehicle 500 gradually increases until it reaches the maximum footprint B when the two storage container supports 550, 550' are disposed in their second positions P2, P2 '.

One storage container support 550, 550 'is now movable, or both storage container supports 550, 550' may be moved simultaneously.

The double arrow indicates that both storage container supports 550, 550 'are pivotally moved in the pivot direction D, D'. When moving from their respective first positions P1, P1' to their respective second positions P2, P2', the two storage container supports 550, 550' move on opposite sides of the vehicle 500. Thus, when both storage container supports 550, 550 'are in their second positions P2, P2', they extend in opposite directions from the vehicle in the first direction X.

In operation of the fourth exemplary embodiment, the vehicle 500 may travel to the conveyor for receiving the storage containers 106 on the storage container supports 550, 550' when disposed in its second position P2, P2', or the vehicle 500 may dispose the storage container supports 550, 550' in its second position P2, P2' when the conveyor is proximate to the vehicle 500 for loading the storage containers 106 onto the storage container supports 550, 550 '. Due to the pivotally mounted storage container supports 550, 550', more than one storage container 106 may be carried by the vehicle 500, and the vehicle 500 has a larger footprint when carrying the storage containers 106 than when not carrying the storage containers 106. Thus, operation of the vehicle 500 on the storage container supports 550, 550 'without carrying the storage container 106 occupies less space on the track system than the vehicle 500 on the storage container supports 550, 550' with the storage container 106. As known to those skilled in the art, it is advantageous for the efficiency of the storage system that the vehicle 500 operating in the system have as small a footprint as possible.

The pivotally mounted storage container supports 550, 550' may further be particularly useful in situations where the conveyor cannot be disposed adjacent to the vehicle 500, so the storage container supports 550, 550' may enhance loading of the storage containers 106 by reducing the distance between the storage container supports 550, 550' and the conveyor. For example, if the conveyor is a conveyor belt or operator, the risk of the storage container falling into the grid or operator injury may be minimized.

Fig. 10A to 10D are perspective views of a remotely operated vehicle 500 according to a fifth exemplary embodiment of the present invention having two storage container supports 550, 550', with half of each storage container support 550, 550' pivotally mounted therein.

Looking at fig. 10A, a vehicle 500 is disposed on the track system 108. The vehicle 500 has a first minimum footprint equal to one grid cell of the track system 108. Both storage container supports 550, 550 'are arranged in their first positions P1, P1'.

The first storage container support 550 is divided into two halves, i.e., a first half 555a and a second half 555b (see fig. 10C), and the second storage container support 550' is divided into two halves, i.e., a first half 555a ' and a second half 555b ' (see fig. 10C).

The first half 555a of the first storage container support 550 is fixed to the vehicle body 504, while the second half 555b is fixed to the first half 555a by a first pivot connection 590, allowing the second half 555b to pivot about the first pivot point PP between the first position P1 and the second position P2.

Further, the first half 555a ' of the second storage container support 550' is fixed to the vehicle body 504, while the second half 555b ' is fixed to the first half 555a ' by a second pivot connection 590', allowing the second half 555b ' to pivot about the second pivot point PP ' between the first position P1' and the second position P2 '.

Because the second pivot connection 590' operates in a similar manner, only the operating mechanism of the first pivot connection 590 is shown with respect to the first storage container support 550 in fig. 10B.

The first pivot connection 590 includes a rotatable shaft 591 that is attached to the first half 555a of the first storage container support 550 via a tilting mechanism 593 and is fixed to the second half 555b by two longitudinally extending arms 592a, 592b extending below the second half 555b. By rotating shaft 591 via tilting mechanism 593, second half 555b is pivotally movable between first position P1 and second position P2. Further, the arms 592a, 592b have extensions 592c that extend in opposite directions below the first half 555a of the storage container support 550 when the storage container support 550 is disposed in the second position P2, thereby preventing pivotal movement to continue in the same direction after the storage container support 550 has been moved from the first position P1 to the second position P2.

The tilting mechanism 593 may be driven, for example, by a belt that is electrically operated by an actuator similar to the sliding mechanism discussed with respect to fig. 7C and 7D.

Those skilled in the art will appreciate that there are a number of possibilities for tilting the storage vessel support by means of an actuator for selection, and therefore the mechanism itself will not be discussed in further detail.

Fig. 10B further illustrates the second storage container support 550 'in the second position P2'. Thus, the footprint of the vehicle 500 is greater than the footprint of the vehicle 500 in fig. 10A. The footprint of the vehicle in fig. 10B may be, for example, the size of one half-grid unit of track system 108.

In fig. 10C, both storage container supports 550, 550 'are arranged in the second position P2, P2', so the vehicle 500 shows a maximum footprint, which may be two grid units of the track system 108.

Fig. 10D also shows two storage container supports 550, 550 'arranged in the second position P2, P2'. Further, in fig. 10D, each storage container support 550, 550' carries a storage container 106.

As for the operation of the fourth exemplary embodiment, the operation of the fifth exemplary embodiment of the vehicle 500 may include driving the vehicle to a conveyor for receiving the storage container 106 on the storage container supports 550, 550' when disposed in its second position P2, P2', or the vehicle 500 disposing the storage container supports 550, 550' in its second position P2, P2' when the conveyor approaches the vehicle 500 for loading the storage container 106 on the storage container supports 550, 550'. Due to the pivotally mounted storage container supports 550, 550', more than one storage container 106 may be carried by the vehicle 500, and the vehicle 500 has a larger footprint when carrying the storage containers 106 than when not carrying the storage containers 106. Thus, operation of the vehicle 500 on the storage container supports 550, 550 'without carrying the storage container 106 occupies less space on the track system than the vehicle 500 on the storage container supports 550, 550' with the storage container 106. As known to those skilled in the art, it is advantageous for the efficiency of the storage system that the vehicle 500 operating in the system have as small a footprint as possible.

In addition, the pivotally mounted storage container supports 550, 550' may further be particularly useful in situations where the conveyor cannot be disposed adjacent to the vehicle 500, and thus the storage container supports 550, 550' may enhance loading of the storage containers 106 by reducing the distance between the storage container supports 550, 550' and the conveyor. For example, if the conveyor is a conveyor belt or operator, the risk of the storage container falling into the grid or operator injury may be minimized.

Fig. 11A and 11B are side views of a teleoperated vehicle according to a sixth exemplary embodiment of the teleoperated vehicle 500 of the present invention, showing one slidably mounted storage container support 550 and one pivotally mounted storage container support 550'.

The vehicle 500 has a wheeled base unit 505 as shown in the first exemplary embodiment in fig. 5A.

In fig. 11A, both storage container supports 550, 550 'are arranged in their first positions P1, P1' and the footprint of the vehicle 500 is equal to the footprint of the wheeled base unit 505. Thus, when both storage container supports 550, 550 'are disposed in their first positions P1, P1', the vehicle has a minimal footprint.

Fig. 11B shows the two storage container supports 550, 550 'arranged in their second positions P2, P2', and the vehicle has a maximum footprint. The maximum coverage area may be, for example, greater than 1.5 grid cells, and may even be substantially equal to the two grid cells indicated in fig. 1A. Also in this embodiment, the storage container supports 550, 550 'extend in opposite directions in the first direction X, and each storage container support 550, 550' carries a storage container 106.

The operation of the slidable first storage container support 550 and the pivotal second storage container support 550' may be similar to the movement shown in fig. 7C and 10B, respectively, and are known to those skilled in the art.

Further, the operation of the vehicle is similar to that disclosed in the second and fourth exemplary embodiments.

Fig. 12A and 12B are side views of a remotely operated vehicle 500 having two telescopically mounted storage container supports 550, 550' according to a seventh exemplary embodiment of the invention. However, those skilled in the art will appreciate that the vehicle 500 may have only one telescoping storage vessel support.

In fig. 12A, two storage container supports 550, 550 'are arranged in their first positions P1, P1' indicated by dashed lines, and the vehicle 500 has a first footprint a, which may be equal to the grid cells of the track system.

The double arrow indicates that both storage container supports 550, 550' are telescopically movable in a first direction X. However, when moving from their respective first positions P1, P1' to their respective second positions P2, P2', the two storage container supports 550, 550' move in opposite directions, similar to the second exemplary embodiment shown in fig. 6A and 6B.

Fig. 12B shows two storage container supports 550, 550 'in their second positions P2, P2', each carrying one storage container 106. When both storage container supports 550, 550 'are disposed in the second positions P2, P2', the vehicle 500 has a maximum second footprint B as shown. The second footprint B may be equal to the size of two grid cells of the track system.

The telescopic movement of the storage container support 550, 550' may be similar to the movement of a scissor lift or telescopic arm lift operating in a horizontal direction, for example, and may be operated by an electrically driven actuator.

The operation of the vehicle 500 may be similar to the operations disclosed in the second and fourth exemplary embodiments.

Fig. 13A to 13C are side views of a remotely operated vehicle 500 according to an eighth exemplary embodiment of the present invention. In this embodiment, the vehicle is a remotely operated container handling vehicle 500.

The container handling vehicle 500 shows a vehicle body 504 having a cavity 560 therein for receiving and transporting the storage containers 106 from and to storage locations within a storage grid below the track system. Thus, the cavity has a lifting device (not shown in fig. 13A to 13C) for this operation. Such operations are known to those skilled in the art and will not be discussed in detail.

Further, the wheeled base unit 505 shows two stabilizing structures, a first stabilizing structure 520 and a second stabilizing structure 520', and the body 504 shows two pivotally mounted storage container supports, a first storage container support 550 and a second storage container support 550', which are secured to the outer surface of the body 504 by pivot connections 590, 590 '.

Instead of or in addition to the illustrated stabilizing structure 520, 520', the storage container support 550, 550' may comprise support wheels (not shown) which may be pivoted from or provided on the storage container support, which support wheels extend in a vertical direction from below the storage container support for interaction with the rail system.

In fig. 13A, two storage container supports 550, 550 'are arranged in their first positions P1, P1'. The first footprint a of the vehicle 500 is equal to the footprint of the vehicle base 505 including the stabilizing structures 520, 520'. The footprint a may be between the size of one grid cell and two grid cells, such as two grid cells, on the track system shown in fig. 1A.

Fig. 13B shows a first storage container support 550 arranged in its first position P1 and a second storage container support 550' arranged in its second position P2. Thus, the vehicle 500 has a mid-coverage area B' that is greater than the first coverage area a. The mid-coverage area may, for example, be of the size of two half grid cells.

When both storage container supports 550, 550 'are moved to their second positions P2, P2', the footprint increases until it reaches a maximum second footprint B when both storage container supports 550, 550 'are arranged in their second positions P2, P2', as shown in fig. 13C. This second coverage area may have the size of, for example, three grid cells.

As shown in fig. 13C, the first stabilizing structure 520 of the vehicle base unit 505 extends directly under the first storage container support 550, and the second stabilizing structure 520 'extends directly under the second storage container support 550', thereby ensuring stability of the vehicle 500 against tilting. Thus, two stabilizing structures 520, 520' extend in a first direction X along the horizontal plane of the grille structure from opposite sides 504a, 504b of the body 504. Each storage container support 550, 550' carries a storage container 106. In addition, a vehicle lift (not shown in fig. 13C) within cavity 560 carries storage container 106. Thus, the vehicle 500 carries three storage containers 106. The storage containers 106 disposed on the storage container supports 550, 550' are disposed thereon by a conveyor (not shown), and the storage containers 106 within the cavity 560 may be picked up from the vehicle lift of the vehicle 500 itself.

When disposed in the second positions P2, P2', the first and second storage container supports 550, 550' extend in the first horizontal direction X. Furthermore, each stabilizing structure 520, 520' extends the overall length L of each storage container support 550, 550 _S About 50% of (a).

The pivot connections 590, 590' connecting the storage container supports 550, 550' to the vehicle body 504 are disposed on top of and adjacent to the stabilizing structure 520, 520 '.

Fig. 14A and 14B are perspective views of a remotely operated vehicle according to an eighth exemplary embodiment of the present invention shown in fig. 13A and 13B, respectively.

As shown in fig. 14A, the first storage container support 550 pivots about an axis 591 of the first pivot connection 590, which may operate similarly to that disclosed for the pivoting half storage container support in fig. 10A-10D. Since such operations are known to those skilled in the art, they will not be further discussed.

The vehicle 500 has a body 504 with a cavity 560 centrally disposed within the body 504 and a roof 512 covering the top of the body 504. The first set of four wheels 506a are mounted parallel to the outer walls of the first and second stabilizing structures 520, 520', and the second set of four wheels 506b are mounted on the inside of the cavity 560 parallel to the inner wall of the body 504. The first set of wheels 506a and the second set of wheels 506b are oriented perpendicular to each other.

As shown in the figure, the wheel base unit 505 is different from the wheel base units disclosed in the above-described first to seventh exemplary embodiments. The second set of wheels 506b is arranged within the cavity 560 ensuring that the footprint of the wheeled base unit 505 is as small as possible when the storage container supports 550, 550 'are arranged in their first positions P1, P1'. A first set of wheels 506a arranged to move the vehicle in the first direction X is arranged outside the wheel base unit 505.

The operation of the vehicle 500 may be similar to the operation of the fourth exemplary embodiment of the vehicle 500, but wherein the vehicle 500 is further configured to move the storage containers 106 into and out of the storage column.

Fig. 15 is a side view of a remotely operated container handling vehicle 500 similar to the remotely operated container handling vehicle shown in fig. 13 and 14. However, the vehicle 500 according to the ninth exemplary embodiment of the present invention shown in fig. 15 shows four pivotally mounted storage container supports 550, 550', 550", 550'". The two storage container supports, namely the first storage container support 550 and the second storage container support 550', are arranged as shown in the eighth embodiment with the pivot connection 590, 590' arranged adjacent to the upper part of the stabilizing structure 520, 520 '. The other two storage container supports, namely, the third storage container support 550 "and the fourth storage container support 550 '" are disposed directly above the first storage container support 550 and the second storage container support 550', respectively, and are separated at a height greater than that of one storage container 106.

In operation of the vehicle of the ninth exemplary embodiment, the vehicle 500 may travel to the conveying device for receiving the storage container 106 on the storage container support 550, 550', 550", 550'" when disposed in its second position P2, P2', P2", P2'", or the vehicle 500 may dispose the storage container support 550, 550', 550", 550'" in its second position P2, P2', P2", P2'" when the conveying device is proximate to the vehicle 500 for loading the storage container 106 onto the storage container support 550, 550', 550", 550'". Because of the four pivotally mounted storage container supports 550, 550', 550", 550'", the four storage containers 106 may be carried by the storage container supports 550, 550', 550", 550'" of the vehicle 500 and the vehicle 500 has a larger footprint when carrying the storage containers 106 on the storage container supports 550, 550', 550", 550'" than when not carrying the storage containers 106 on the storage container supports 550, 550', 550", 550'". Thus, the operation of the vehicle 500 without a storage container 106 carried on the storage container support 550, 550', 550", 550'" occupies less space on the track system than the vehicle 500 carrying a storage container 106 on the storage container support 550, 550', 550", 550'". As known to those skilled in the art, it is advantageous for the efficiency of the storage system that the vehicle 500 operating in the system have as small a footprint as possible.

The vehicle 500 may also carry the storage container 106 within the cavity 560 of the vehicle 500, as disclosed in the eighth exemplary embodiment. In addition, vehicle 500 may also carry container 106 on roof 512 of body 504.

The pivotally mounted storage container supports 550, 550', 550", 550'" may further be particularly useful in situations where the conveying device cannot be disposed adjacent to the vehicle 500 as disclosed in the first exemplary embodiment.

Fig. 16A and 16B are perspective views of a remotely operated container handling vehicle 500 according to a tenth exemplary embodiment of the present invention. The vehicle body is identical to that shown in the eighth embodiment in fig. 13 and 14, but wherein the vehicle 500 shows two telescopically mounted storage container supports 550, 550'.

The storage container support 550, 550 'is disposed directly above and adjacent to the two support structures 520, 520'. Furthermore, the two storage container supports 550, 550' extend in a first direction X in opposite directions to each other.

In fig. 16A, both storage container supports 550, 550 'are in their first retracted positions P1, P1', the double arrow indicates the direction in which the first storage container support 550 is telescopic when moving between the first position P1 and the second position P2. In this first position, the horizontal extent of the first and second storage container supports 550, 550 'in the horizontal plane is less than the horizontal extent of the first and second support structures 520, 520', respectively. Thus, the first footprint of the vehicle 500 when the storage container supports 550, 550' are disposed in their first positions P1, P1' is equal to the footprint of the body 504 including the first and second stabilizing structures 520, 520 '.

In fig. 16B, the first storage container support 550 is disposed in the second position P2. Thus, the footprint of the vehicle 500 is greater than the footprint of the vehicle in fig. 16A, as it also involves the footprint of the first storage container support 550 extending beyond the footprint of the body 504.

In operation of the tenth exemplary embodiment, the vehicle 500 is similar to operation of the ninth exemplary embodiment.

Fig. 17A and 17B are side views of a remotely operated vehicle 500 according to an eleventh exemplary embodiment of the present invention, where the remotely operated vehicle 500 is a cantilevered remotely operated container carrier vehicle 500 having one pivotally mounted storage container support 550. Fig. 3 shows an example of a similar cantilevered container handling wheel. The vehicle according to the eleventh embodiment has a lifting device 510 for lifting and lowering the container 106 to and from a position below the cantilever arm 530.

The cantilevered vehicle 500 shown in fig. 17A and 17B differs from the vehicle in fig. 3 in that the vehicle 500 has a different wheeled base unit 505 and the vehicle 500 further includes a pivotally mounted storage container support 550.

The body 504 has a vertically extending structure 511 extending from the base 505. Cantilever 530 is secured at its upper end to vertically extending structure 511. Below the cantilever arm 530 is a lifting device 510 for raising and lowering the storage vessel 106 to and from a position below the cantilever arm 530.

Fig. 17A shows that the storage container support 550 arranged in the first position P1 has a vertical portion and is arranged mainly in the vertical third direction Z. The storage container support 550 is pivotally mounted to the vehicle body 504 via a pivot connection 590 that shows a pivot point PP about which the storage container support 550 pivots as it moves between the first position P1 and the second position P2.

The vehicle comprises a wheeled base unit 505 with a stabilizing structure 520 for stabilizing the vehicle 500, in particular avoiding tilting of the vehicle 500. The stabilizing structure 520 extends in a first horizontal direction X in a first horizontal plane.

When the storage container support 550 is disposed in the second position P2 as shown in fig. 17B, the storage container support 550 is disposed directly above and adjacent to the stabilizing structure 520.

As shown, the vehicle has a minimum first footprint a when the storage container support 550 is disposed in the first position P1 and a second maximum footprint B when the storage container support 550 is disposed in the second position P2.

When the storage container support 550 is disposed in the second position P2, the cantilever arm 530 of the vehicle 500 extends in the first horizontal direction X in the opposite direction of the storage container support 550. As shown in fig. 17B, the cantilever arms 530 are disposed at opposite sides of the body 504 compared to the position of the storage container support 550.

The first footprint a of the vehicle 500 is shown as being approximately 2.3 times the size of one grid cell. This is mainly due to the fact that the width of the vertically extending structures 511 along the first direction X may be smaller than shown. If the vehicle comprises a smaller width vertically extending structure, the size of the wheeled base unit may also be reduced such that the first footprint a may be 1.5 to 2 times the grid unit.

In operation of the vehicle 500 of the eleventh exemplary embodiment, the vehicle 500 may travel to the conveyor for receiving the storage container 106 on the storage container support 550 when disposed in its second position P2, or the vehicle 500 may dispose the storage container support 550 in its second position P2 when the conveyor is proximate to the vehicle 500 for loading the storage container 106 onto the storage container support 550. The vehicle 500 has a larger footprint when carrying the storage container 106 on the storage container support 550 than when not carrying the storage container 106 on the storage container support because the storage container support 550 will be disposed in the first position P1. Thus, operation of the vehicle 500 without a storage container 106 carried on the storage container support 550 occupies less space on the track system than the vehicle 500 with a storage container 106 carried on the storage container support 550. As known to those skilled in the art, it is advantageous for the efficiency of the storage system that the vehicle 500 operating in the system have as small a footprint as possible.

The pivotally mounted storage container support 550 may further be particularly useful in situations where the conveyor device cannot be disposed adjacent to the vehicle 500 as disclosed in the first exemplary embodiment.

Fig. 18A and 18B are side views of a remotely operated vehicle 500 according to a twelfth exemplary embodiment of the present invention. The vehicle 500 is very similar to the vehicle of the eleventh exemplary embodiment, which is a cantilevered container handling vehicle. The difference between the eleventh exemplary embodiment and the twelfth exemplary embodiment is that the twelfth exemplary embodiment has a slidably arranged storage container support 550.

Fig. 18A discloses the slidably arranged storage container support 550 in the first position P1 and the vehicle 500 has a first minimum footprint a, which may be approximately the size of two half-grid units as shown in fig. 1A.

When the storage container support 550 is disposed in the second position P2 as shown in fig. 18B, the cantilever arm 530 of the vehicle 500 extends in the opposite direction of the storage container support 550 in the first horizontal direction X. When the storage container support is in the second position P2, the vehicle has a maximum second footprint B that is greater than the first footprint a. The second footprint B may be, for example, the size of three grid cells.

When disposed in the first position P1, the storage container support 550 may slide into a recess in the body 504. The sliding movement may be operated by a mechanism as shown for sliding the storage container support in the second exemplary embodiment.

The operation of the vehicle 500 in the twelfth exemplary embodiment will be similar to that of the eleventh exemplary embodiment, except for the fact that the storage container support 550 is slidably rather than pivotally mounted.

Fig. 19A and 19B are perspective views of a remotely operated vehicle 500 according to a thirteenth exemplary embodiment of the invention, wherein the vehicle 500 has a rotary dial device 540 and a pivotally mounted storage container support 550.

However, the vehicle 500 may include only the rotary turntable device 540 and not the pivotally mounted storage container support 550, as it operates independently.

Rotary turret device 540 shows a support column 541 fixed to an upper surface of the vehicle body 504. The support column 541 extends in a third vertical direction Z and includes three turntable arms 543 extending radially from the support column 541. Each carousel arm 543 is rotatably fixed to a support column 541 at a predetermined height by a rotatable connection 542 and has a storage container support 550', 550' "fixed thereto at the other distal end. The storage container supports 550', 550", 550'" may be about the rotation axis C of the support column 541 with the carousel arm 543 _C Rotationally movable. Each arm 543 is individually controllable and rotatable. Rotating the dial means 421 may cause the arm 543 to rotate about the rotation axis C _C Rotates in both a clockwise and counterclockwise direction. Furthermore, during rotation, the storage container supports 550', 550", 550'" may always be arranged in a horizontal plane.

In fig. 19A, the first storage container support 550, the second storage container support 550', the third storage container support 550", and the fourth storage container support 550'" are all disposed in their first positions P1, P1', P1", P1'".

The first storage container support 550 is a pivotally mounted storage container support 550 that is arranged in an upright position, i.e. mainly in a third vertical direction Z, similar to the first storage container support shown in fig. 14A. The first storage container support is connected to the vehicle body 504 via a pivot connection 590 such that the first storage container support 550 is pivotable about a pivot point PP.

The second storage container support 550', the third storage container support 550", and the fourth storage container support 550'" are disposed above each other in a horizontal plane on top of the vehicle base 505. The rotary turntable device 540 with the second storage container support 550', the third storage container support 550", and the fourth storage container support 550'" has a footprint that is less than the footprint of the vehicle base unit 505. Thus, when all the storage container supports 550, 550' "are arranged in their first positions P1, P1', P1", P1' "and are equal to the two grid units of the track system 108, the footprint of the vehicle 500 corresponds to the footprint of the vehicle base unit 505.

To carry a plurality of storage containers 106, the storage container supports 550, 550', 550", 550'" are movable into their second positions P2, P2', P2", P2'" as shown in fig. 19B.

The first storage container support 550 has been moved from a primarily vertical first position P1 to a primarily horizontal position P2 and, when in P2, the storage container 106 is arranged on the storage container support 550.

Each of the second storage container support 550', the third storage container support 550", and the fourth storage container support 550'" has been rotated into the second position P2', P2", P2'" by the dial arm 543. Each turntable arm 543 shows two joints 543a, 543b such that each of the second storage container support 550', third storage container support 550", and fourth storage container support 550'" can be lowered or raised. The first joint 543a is arranged close to the support column 541 and the second joint 543b is arranged close to the storage container supports 550', 550", 550'".

The fourth storage container support 550' "is disposed outside the footprint of the body 504. The arm 543 has lowered the fourth storage container support 550 '"closer to the track system 108, which may simplify loading the storage containers 106 onto the fourth storage container support 550'".

When the second storage container support 550', the third storage container support 550", and the fourth storage container support 550 '" are all rotated about the support column 541, they may all be positioned in the second position P2' "of the fourth storage container support 550 '" as seen in fig. 19B, respectively, to facilitate loading or unloading of the storage containers 106, and thereafter move to their own second positions P2', P2".

The rotary turret device 540 may include a turret arm 543 for rotating the turret arm 543 about a vertical axis of rotation C _C A rotating turret motor (not shown).

In operation of the vehicle 500 of the thirteenth exemplary embodiment, the vehicle 500 may travel to the conveyor for receiving the storage container 106 on the storage container support 550, 550', 550", 550 '" when disposed in its second position P2, P2', P2", P2 '", or the vehicle 500 may dispose the storage container support 550, 550', 550", 550 '" in its loading position P2, P2' "when the conveyor is proximate to the vehicle 500 for loading the storage container 106 onto the storage container support 550, 550', 550", 550' ". When the storage container supports 550, 550', 550", 550'" carry four storage containers 106, the vehicle 500 has a larger footprint than when the storage containers 106 are not carried. Thus, the operation of the vehicle 500 not carrying the storage containers 106 occupies less space on the track system than the vehicle 500 carrying the storage containers 106. As known to those skilled in the art, it is advantageous for the efficiency of the storage system that the vehicle 500 operating in the system have as small a footprint as possible

Furthermore, as seen in fig. 19B, the second position P2 of the first storage container support and the second position P2 '"of the fourth storage container support 550'" are arranged at a level almost abutting or abutting the track system 108. Thus, when the storage container support 550, 550', 550", 550'" is disposed in one of these positions, the conveying means that conveys the storage container to the storage container support 550, 550', 550", 550'" may be a cantilevered container handling vehicle as disclosed in fig. 3. The cantilever portion of the vehicle, which includes the storage container at its upper layer, may be disposed directly above one of the storage container supports 550, 550', 550", 550'" and then lower the storage container onto the storage container support 550', 550", 550'".

The operation of the storage container supports 550, 550', 550", 550'" may be further particularly useful in cases where the conveyor device cannot be disposed adjacent to the vehicle 500 as disclosed in the first exemplary embodiment.

Fig. 20A to 20D are perspective views of a remotely operated vehicle 500 according to a fourteenth exemplary embodiment, in which the vehicle 500 has two rotatably mounted storage container supports 550, 550'.

Fig. 20A discloses that the first storage container support 550 and the second storage container support 550 'are arranged in their first positions P1, P1' and that the footprint of the vehicle is equal to the footprint of the wheeled base unit 505.

In fig. 20B, the first storage container support 550 and the second storage container support 550 'are arranged in their second positions P2, P2', so that they have both been rotated 180 ° in the horizontal plane and the footprint of the vehicle 500 is larger than the footprint of the wheeled base unit 505.

In fig. 20C, it is shown that the vehicle 500 may carry three storage containers when both storage container supports 500, 550 'are arranged in the second positions P2, P2'. Further, fig. 20C shows a vehicle disposed on the track system 108. When both storage container supports 550, 550 'are arranged in the second position P2, P2', the wheeled base unit 505 has a footprint equal to two grid units of the track system, while the vehicle has a footprint equal to three grid units of the track system 108.

The storage container supports 550, 550 'extend in opposite directions in the first direction X, and each rack 550, 550'.

Fig. 20D is a perspective view of the vehicle 500 from below, and thus a view from below the rail system toward the wheel base unit 505. As shown, both storage container supports 550, 550 'are connected to a motor 578 that provides rotational movement of the storage container supports 550, 550'.

The operation of the fourteenth exemplary embodiment of the vehicle 500 may include driving the vehicle to a conveyor for receiving the storage container 106 on the storage container support 550, 550' when disposed in its second position P2, P2', or the vehicle 500 disposing the storage container support 550, 550' in its second position P2, P2' when the conveyor is proximate to the vehicle 500 for loading the storage container 106 onto the storage container support 550, 550 '. Due to the rotatably mounted storage container supports 550, 550', the vehicle 500 may carry more than one storage container 106, i.e., one on each storage container support 550, 550', and one on top of the wheeled base unit 505 of the vehicle 500. The vehicle 500 has a larger footprint when carrying three storage containers 106 than when not carrying three storage containers 106. Thus, the operation of the vehicle 500 without carrying the storage containers 106 occupies less space on the track system than the vehicle 500 carrying three storage containers 106. As known to those skilled in the art, it is advantageous for the efficiency of the storage system that the vehicle 500 operating in the system have as small a footprint as possible.

Furthermore, the rotatably mounted storage container support 550, 550' may further be particularly useful in cases where the conveying device cannot be arranged adjacent to the vehicle 500, as also disclosed for the first exemplary embodiment.

Fig. 21A to 21B are perspective views of a remotely operated vehicle 500 according to a fifteenth exemplary embodiment of the present invention.

The vehicle 500 has a rotatably mounted storage container support 550 connected to the body 504 by a rotation shaft 571. The rotation shaft 571 is arranged at a side of the vehicle body 504 such that when the storage container support 550 is arranged at the second position P2, the shaft 571 is arranged between the vehicle body 504 and the storage container support 550, as shown in fig. 21B.

The rotation shaft is further connected to a motor (not shown) for rotating the shaft 571. When the storage container support 550 is in the second position P2, the vehicle may carry two storage containers 106, as shown in fig. 21B.

When the storage vessel support is in the first position P1, the footprint of the vehicle 500 is equal to the footprint of the wheeled base unit 505 including the axle 571. As can be seen in fig. 21B, the footprint is equal to one grid cell of the track system 108.

The operation of the fifteenth exemplary embodiment of the vehicle 500 may include driving the vehicle 500 to a conveyor for receiving the storage container 106 on the storage container support 550, 550' when disposed in its second position P2, P2', or the vehicle 500 disposing the storage container support 550, 550' in its second position P2, P2' when the conveyor is proximate to the vehicle 500 for loading the storage container 106 on the storage container support 550, 550 '. Due to the rotatably mounted storage container support 550, the vehicle 500 may carry more than one storage container 106, i.e., the storage container support 550 carries one, and the vehicle 500 carries one on top of the wheeled base unit 505.

The vehicle 500 has a larger footprint when carrying two storage containers 106 than when not carrying the storage containers 106. Thus, the operation of the vehicle 500 when not carrying storage containers 106 occupies less space on the track system than the vehicle 500 carrying two storage containers 106. As known to those skilled in the art, it is advantageous for the efficiency of the storage system that the vehicle 500 operating in the system have as small a footprint as possible.

Furthermore, the rotatably mounted storage container support 550 may further be particularly useful in situations where the conveying device cannot be arranged adjacent to the vehicle 500, as also disclosed for the first exemplary embodiment.

Fig. 22A to 22G are perspective views of a teleoperated vehicle according to a sixteenth exemplary embodiment of the present invention, wherein the vehicle 500 has two rotatably mounted storage container supports 550, 550 'which are arranged on top of each other directly above the wheel base unit 505 of the vehicle 500 when arranged in their first positions P1, P1'.

Fig. 22A shows two storage container supports 550, 550 'arranged in a first position P1, P1' and the vehicle 500 has a minimum footprint corresponding to the footprint of the wheeled base unit 505, which again corresponds substantially to the size of one grid unit of the track system 108.

Fig. 22B shows the first storage container support 550 in an intermediate position between the first position and the second position, wherein the footprint of the vehicle 500 has been slightly increased. The first storage container support 550 has been moved in a horizontal first direction X and an upward vertical direction Z such that the first storage container support extends slightly beyond the footprint of the wheeled base unit 505.

Fig. 22C shows the first storage container support 550 in another intermediate position between the first and second positions, wherein the footprint of the vehicle 500 has been further increased from the position shown in fig. 22B. Thus, the first storage container support 550 has moved further in the vertical direction Z and the first horizontal direction X, such that the storage container support 550 has moved further beyond the footprint of the wheeled base unit 505.

In fig. 22D, both storage container supports 550, 550 'are shown in their second positions P2, P2' and the vehicle has a maximum footprint that is greater than the footprint shown in fig. 22A, 22B and 22C. The maximum footprint is equal to three grid cells of the track system 108. Both storage container supports 550, 550' carry the storage bin 106 and are arranged almost flush therewith in the first position shown in fig. 22A, both extending beyond the footprint of the wheeled base unit 505 in a first horizontal direction. The first storage container support 550 and the second storage container support 550' extend in opposite directions from the wheel-type base unit 505.

In this second position P2, P2' of the storage container support 550, 550', the storage container support 550, 550' may receive the storage container 106 on the storage container support. Since the maximum footprint of the vehicle is the size of three grill units, there is also room for storage containers on top of the wheeled base unit 505, as shown in fig. 22G.

Since the two storage container supports 550, 550' operate in the same manner, only the operation of the first storage container support 550 will be explained in detail.

Referring to fig. 22D and 22E, the first storage container support 550 is secured to the wheeled base unit 505 by a connector 573 that includes a first engagement bracket 574 attached to a first shaft 575 and a second shaft 576. A lower portion 574a of the first engagement bracket 574 is secured to a first end 575a of the first shaft 575, and a lower portion 577a of the second engagement bracket 577 is secured to a second end 575b of the first shaft 575. Further, an upper portion 574b of the first engagement bracket 574 is secured to a first end 576a of the second shaft 576, and an upper portion 577b of the second engagement bracket 577 is secured to a second end 576b of the second shaft 576. The first and second engagement brackets 574 and 577 are rotatably mounted to the first and second shafts 575 and 576 by screws or bolts.

Thus, during the movement of the first storage container support 550 from the first position P1 as shown in fig. 22A to the second position P2 as shown in fig. 22D, the storage container support 550 is always maintained in a horizontal plane due to the connection 573 comprising two shafts 576, 575 connected to the same engagement brackets 574, 577 at different heights.

As discussed above with respect to the pivotally mounted storage container support, movement of the connection 573 may be initiated by an electrical actuator.

Fig. 22F is a side view of the vehicle 500, wherein each storage container support 500, 550' carries a storage container arranged at its highest position. The footprint of the vehicle 500 corresponds to two grill units and is the smallest footprint possible for a vehicle carrying two storage containers 106.

Fig. 23 is a perspective view of a remotely operated vehicle 500 according to the second and sixth exemplary embodiments of the present invention shown in fig. 7B, having a weight distribution system with a load moving device (not shown) for changing the center of gravity of the vehicle 500 according to the load of one or both storage containers 106 carried by the vehicle 500.

The movable load is a storage container support 550, 550' arranged above the wheeled base unit 505.

Center V of vehicle _C Not shown as a centre S with the storage container support _C Overlapping as disclosed in fig. 7B. Thus, the storage vessel support has been moved in the first direction X along a range, here equal to about 15% of the length of the vehicle body 505 in the first direction X.

Thus, the center of mass of the vehicle has changed and the vehicle 500 remains stable.

Generally, according to any of the above-described exemplary embodiments, when the storage container support 550 is disposed in the second position, the vehicle 500 has a greater capacity for carrying the storage container 106 and/or a better access for loading the storage container 106 onto the vehicle 500 or unloading the storage container 106 from the vehicle 500 by the conveyor.

Furthermore, according to all example embodiments, the vehicle 500 may also include a sensor that detects the presence of the storage container 106 on the storage container support 550, 550', 550", 550'". Thus, if the storage container 106 is not present, the vehicle 500 may automatically arrange the storage container supports 550, 550', 550", 550'" in the first positions P1, P1', P1", P1'", ensuring that the footprint of the vehicle 500 is as small as possible.

Further, the vehicle 500 of all of the above embodiments may include a sensor that senses the footprint of the vehicle 500 in situ for calculating the fastest route from one location to another location on the track system 108 in view of the footprint. All of the above embodiments may operate as follows:

The conveyor may be accessible to the remotely operated vehicle 500 of the present invention or the remotely operated vehicle 500 of the present invention may be accessible to the conveyor.

Either way, if the vehicle 500 is empty, i.e., does not carry any storage containers 106 on the storage container support 550, the storage container support 550 will be disposed in the first position P1. To load the storage container 106 onto the storage container support, the vehicle 500 moves the empty storage container support 550 to the load/unload second position P2. The conveyor may then place the storage containers 106 on the empty storage container support 550. After loading, the vehicle 500 may be moved to another location of the track system 108 for unloading the storage containers 106.

If the vehicle 500 includes a plurality of storage container supports 550, 550', 550", 550'", each of the storage container supports 550, 550', 550", 550'" may be disposed in its second position simultaneously or individually/separately for loading the storage container 106 into the storage container supports 550, 550', 550", 550'".

In the foregoing description, various aspects of a container handling vehicle and automated storage and retrieval system according to the present invention have been described with reference to illustrative embodiments. For purposes of explanation, specific numbers, systems and configurations were set forth in order to provide a thorough understanding of the system and its operation. However, the description is not intended to be construed in a limiting sense. For example, although the term wheeled base unit having a first set of wheels and a second set of wheels has been used as an example throughout the specification, a belt base having a first belt and a second belt for guiding along a track system may alternatively be used. Various modifications and variations of the illustrative embodiments, as well as other embodiments of the system, which are apparent to persons skilled in the art to which the disclosed subject matter pertains are deemed to lie within the scope of the claims.

List of reference numerals

1. Automated storage and retrieval systems of the prior art

100. Frame structure

102. Upright/vertical member of frame structure

103. Horizontal member of frame structure

104. Storage grille

105. Storage column

106. Storage container

106' specific location of storage container

107. Stacking of

108. Rail system/rail system

110. Parallel tracks in a first direction (X)

110a first track in a first direction (X)

110b second track in the first direction (X)

111. Parallel tracks in the second direction (Y)

111a first track in a second direction (Y)

111b second track in a second direction (Y)

115. Access opening/grille opening

119. First port row

120. Second port row

122. Grille unit/single unit

201. Container handling vehicle of the prior art

201a vehicle body of container transport vehicle 201

201b drive/wheel arrangement in a first direction (X)

201c second direction (Y) drive/wheel arrangement

301. Cantilever container handling vehicles of the prior art

301a vehicle body of container transporting vehicle 301

301b drive means in a first direction (X)

301c in a second direction (Y)

304. Clamping device

500. Remote operation vehicle

503. Rechargeable battery

504. Vehicle body

505. Base/wheeled base unit

506a first set of driving means

506b second set of driving means

507. Displacement assembly

508. Motor with a motor housing

509. 509' motor

510. Lifting device

511. Vertical extension structure

512. Top cover

515. Top panel/flange

516. A central opening

517. Through hole

518. Electronic control unit

520. Stable structure

530. Cantilever arm

532. Lifting device

540. Rotary turntable device

541. Support column

542. Rotatable connecting piece

543. Turntable arm

543a first joint

543b second joint

544. Hinge connection

550. Storage container support/first storage container support

550' second storage container support

550 "third storage container support

550' "fourth storage container support

552a, 552b first storage container support protrusions

552a ', 552b' of the second storage container support

553a, 553b recess of first storage container support

553a ', 553b' recesses of a second storage container support

554 gap/opening

555a first half of the first storage container support

555a' the second half of the first storage container support

555b first half of the second storage container support

555b' second half of the second storage container support

560. Center cavity

571. Rotatable shaft

573. Connecting piece

574. First joint bracket

574a lower portion of the first engagement leg

574b upper part of the first engagement leg

575 first shaft

575a first end of the first shaft

575b second end of the first shaft

576 second shaft

576a first end of the second shaft

576b second shaft second end

577 second engagement bracket

577a lower portion of the second engagement bracket

577b upper portion of the second engagement bracket

578. Motor with a motor housing

580. Moving mechanism/ball screw mechanism

582. A first longitudinal axis

582' second longitudinal axis

582a first thread segment of the first longitudinal axis

582a' first thread segment of the second longitudinal axis

582b second unthreaded section of the first longitudinal shaft

582b' second unthreaded section of the second longitudinal shaft

582c third section of the first longitudinal axis

582c' third section of the second longitudinal axis

583. First support

583' second bracket

584. First longitudinal bar

584' second longitudinal bar

585. First belt

585' second belt

587. Central longitudinal rod/pinion

587a first end section of the central longitudinal rod

587b second end section of the central longitudinal rod

588. Motor with a motor housing

590. Pivoting connector/first pivoting connector

590' second pivot connection

590 "third pivot connection

590' "fourth pivot connection

591 rotatable shaft

592a longitudinally extending arm

592b longitudinally extending arm

593. Tilting mechanism

900. Control system

A first coverage area/minimum coverage area

B second coverage area/maximum coverage area

C _C Vertical rotation axis

D direction of pivoting of the storage container support/first storage container support

D' pivoting direction of the second storage container support

L _S Total length of storage container support

First position of P1 storage container support/first position of first storage container support

P1' first position of second storage container support

P1 "first position of third storage container support

First position of P1' "fourth storage container support

Second position of P2 storage container support/second position of first storage container support

P2' second position of second storage container support

P2 "second position of third storage container support

Second position of P2' "fourth storage container support

P _H Horizontal plane

PP pivot point/first pivot point

PP' second pivot point

V _C Center of vehicle

S _C Center of storage container support

X first horizontal direction

Y second horizontal direction

Z third vertical direction

Claims

1. A remotely operated vehicle (500) for transporting storage containers (106) on a track system (108) of an automated storage and retrieval system (1), the vehicle (500) comprising:

-a vehicle body (504) comprising a base (505) comprising:

a first set of driving means (506 a) arranged on opposite sides of the vehicle body (504) for moving the vehicle (500) on the track system (108) in a first horizontal direction (X),

-a second set of driving means (506 b) arranged on other opposite sides of the vehicle body (504) or within a cavity (560) of the vehicle body (504) for moving the vehicle (500) on the rail system (108) in a second horizontal direction (Y), the second direction (Y) being perpendicular to the first direction (X); and

-a storage container support (550) for carrying the storage container (106), the storage container support (550) being movably mounted to the vehicle body (504), wherein the storage container support (550) is movable between:

a first position (P1); and

a second position (P2) in which the storage container support (550) is at a horizontal plane (P _H ) For supporting the storage container (106), and;

wherein the vehicle (500) has a first footprint (a) when the storage container support (550) is in the first position (P1) and a second footprint (B) when the storage container support (550) is in the second position (P2), and wherein the second footprint (B) is larger than the first footprint (a) in at least one of the first direction (X) and/or the second direction (Y).

2. The remotely operated vehicle (500) according to claim 1, wherein the storage container support (550) is pivotally mounted to the vehicle body (504) at a Pivot Point (PP) and movable in a pivotal movement about the Pivot Point (PP) between the first position (P1) and the second position (P2) such that the storage container support (550) comprises a portion in a vertical third direction (Z) when arranged in the first position (P1).

3. The remotely operated vehicle (500) of claim 1 or 2, wherein the storage container support (550) is slidably mounted to the vehicle body (504) such that the storage container support (550) is slidable in one of the first horizontal direction (X) or the second horizontal direction (Y) between the first position (P1) and the second position (P2).

4. A remotely operated vehicle (500) as claimed in claim 1, 2 or 3, wherein the storage container support (550) is telescopically mounted to the vehicle body (504) such that the storage container support (550) extends telescopically in one of the first horizontal direction (X) or the second horizontal direction (Y) between the first position (P1) and the second position (P2).

5. The remotely operated vehicle (500) according to any one of the preceding claims, wherein the storage container support (550) is rotatably mounted to the vehicle body (504) such that the storage container support (550) is at the horizontal plane (P _H ) Is rotated between the first position (P1) and the second position (P2).

6. The remotely operated vehicle (500) according to any one of the preceding claims, wherein the base (505) is a wheeled base unit (505), wherein the first set of drive means (506 a) is a first set of wheels (506 a) and the second set of drive means (506 b) is a second set of wheels (506 b).

7. The remotely operated vehicle (500) of any preceding claim, wherein an electrically operated actuator is arranged within the vehicle body (504) to facilitate movement of the storage container support (550).

8. The remotely operated vehicle (500) of any of the preceding claims, wherein the storage container support (550) is up to 20% larger than a base area of the storage container (106).

9. The remotely operated vehicle (500) according to any one of the preceding claims, wherein the storage container support (550) extends in the first horizontal direction (X), and wherein the width of the storage container support (550) in the second horizontal direction (Y) is equal to or within the footprint of the base (505).

10. The remotely operated vehicle (500) according to any one of the preceding claims, wherein the base (505) of the vehicle body (504) comprises a stabilizing structure (520) extending directly under the storage container support (550) when the storage container support (550) is arranged in the second position (P2).

11. The remotely operated vehicle (500) of claim 10, wherein the storage container support (550) extends in the first horizontal direction (X), and wherein the stabilizing structure (520) extends the total length L of the storage container support (550) in the first horizontal direction (X) _S From 20% to 90%, preferably from 30% to 60%.

12. The remotely operated vehicle (500) according to any one of the preceding claims, further comprising a lever having a vertical rotation axis (C _C ) And wherein the storage container support (550) is connected to the rotating carousel (540) allowing the storage container support (550) to rotate from the first position (P1) to the second position (P2).

13. The remotely operated vehicle (500) as recited in claim 12, further comprising a turntable arm (543) extending radially from a central portion of said rotary turntable device (540),

Configured to cause the turret arm (543) to rotate about the vertical axis of rotation (C) _C ) A rotating turntable motor, and

wherein the storage container support (550) is arranged at the carousel arm (543) at the vertical rotation axis (C) _C ) At the distal end.

14. The remotely operated vehicle (500) of any of claims 11 to 13, wherein a plurality of storage container supports (550) are connected to the rotating carousel device (540).

15. The remotely operated vehicle (500) of any of the preceding claims, wherein the vehicle (500) is configured to carry more storage containers (106) when the storage container support (550) is arranged in the second position (P2) than when the storage container support (550) is arranged in the first position (P1).

16. The teleoperated vehicle (500) of any one of the preceding claims, wherein the first coverage area (a) is equal to a vertical projection of the vehicle body (504).

17. An automated storage and retrieval system (1), comprising:

-a rail system (108) comprising a rail system arranged in a horizontal plane (P _H ) And a first set of parallel tracks (110) extending in a first direction (X), and arranged at said horizontal plane (P) _H ) A second set of parallel tracks (111) extending in a second direction (Y) orthogonal to the first direction (X), the first set of tracks (110) and the second set of tracks (111) being at the horizontal plane (P _H ) A grid pattern comprising a plurality of adjacent grid cells (122), each grid cell (122) comprising a grid opening (115), a portion of a pair of adjacent tracks (110 a, 110 b) of the first set of tracks (110), and a portion of a pair of adjacent tracks (111 a, 111 b) of the second set of tracks (111), the portion defining the grid opening (115);

-a plurality of stacks (107) of storage containers (106) arranged in storage columns (105) located below the rail system (108), wherein each storage column (105) is located vertically below a grid opening (115);

remotely operated vehicle (500) for supporting at least one storage container (106), the vehicle (500) being configured to move on the rail system (108) over the storage column (105),

the vehicle (500) includes:

-a vehicle body (504) comprising a base (505) comprising:

a first set of driving means (506 a) arranged on opposite sides of the vehicle body (504) for moving the vehicle (500) in a first horizontal direction (X) on the rail system (108), and

-a second set of driving means (506 b) arranged on the other opposite side of the body (504) or within a cavity of the body for moving the vehicle (500) on the rail system (108) in a second horizontal direction (Y), the second direction (Y) being perpendicular to the first direction (X); and

-a storage container support (550) for carrying the storage container (106), movably attached to the vehicle body (504), wherein the storage container support (550) is movable between:

a first position (P1); and

-wherein the vehicle (500) has a first footprint (a) when the storage container support (550) is in the first position (P1) and a second footprint (B) when the storage container support (550) is in the second position (P2), and wherein footprint (B) is larger than footprint (a).

18. The system (1) according to claim 17, further comprising a conveying device for conveying a storage container (106) to the storage container support (550).

19. The system (1) according to claim 17 or 18, wherein the body (504) of the vehicle (500) further comprises a vertically extending structure (511) extending from the base (505), the vertically extending structure (511) comprising a cantilever (530) having at its upper end a lifting device (532) for lifting and lowering a storage container to and from a position below the cantilever (530), wherein the cantilever (530) extends in the first horizontal direction (X) in an opposite direction of the storage container support (550) when arranged in the second position (P2), and the cantilever is arranged at an opposite side of the vehicle (500) compared to the position of the storage container support (550).

20. The system (1) according to claim 17 or 18, wherein the vehicle body (504) further comprises a central cavity (560) in the vehicle body (504), the central cavity comprising lifting means for lifting the storage container (106) to a position in the cavity (560) and lowering the storage container from a position in the cavity (560).

21. The system (1) according to any one of claims 17 to 20, wherein the system (1) further comprises a control system (900) receiving information about the footprint of the remotely operated vehicle (500) for controlling the vehicle 500 on the track system 108 of the automated storage and retrieval system 1.

22. The system (1) according to any one of claims 17 to 21, wherein the first footprint (a) of the teleoperated vehicle (500) is equal in size to the grid unit (122).

23. The system (1) according to any one of claims 17 to 21, wherein a ratio between a size of the grille unit (122) and a size of the first coverage area (a) of the remotely operated vehicle (500) is from 1:1 to 1:2.

24. A method for operating a remotely operated vehicle according to any one of claims 1 to 16, wherein the method comprises the steps of:

-moving the remotely operated vehicle (500) towards a first position for receiving a storage container (106) while the storage container support (550) is in the first position (P1);

-arranging the remotely operated vehicle (500) at the first position, and

-moving the storage container support (550) to the second position (P2) for receiving and storing the storage container (106).

25. The method of claim 24, wherein the method further comprises

-moving the remotely operated vehicle (500) to a second position for transporting the storage container (106) to a receiving unit when the storage container support (550) is arranged in the second position (P2).

26. The method according to claim 24 or 25, wherein the steps of the method are monitored and controlled by a control system (900) receiving wireless data communication and transmitting wireless data communication to the remotely operated vehicle (500).